CN110335529A - Robot modularized teaching platform - Google Patents
Robot modularized teaching platform Download PDFInfo
- Publication number
- CN110335529A CN110335529A CN201910745201.7A CN201910745201A CN110335529A CN 110335529 A CN110335529 A CN 110335529A CN 201910745201 A CN201910745201 A CN 201910745201A CN 110335529 A CN110335529 A CN 110335529A
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- mechanical arm
- teaching platform
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- 230000008859 change Effects 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 230000006872 improvement Effects 0.000 description 9
- 238000012549 training Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
Abstract
The present invention provides a kind of robot modularized teaching platform comprising: manipulator, fast replacing device and several quick-change tool heads.Robot modularized teaching platform of the invention can be realized the flexible conversion of several quick-change tool heads, so that robot modularized teaching platform is integrated with a variety of instructional functions, improve its application by one fast replacing device of setting.
Description
Technical field
The present invention relates to a kind of teaching equipment more particularly to a kind of robot modularized teaching platforms.
Background technique
Robot practical traning platform is that one kind can be competent at Mechatronics specialities teaching experiment and relevant speciality vocational skills
The platform of training, examination.Existing industrial robot training platform is electrical comprising industrial robot, intelligent vision system, servo
System, PLC control system, mechanical mechanism and pneumatic mechanism may be implemented to sort the workpiece of high-speed transfer, detect, remove
The operation such as fortune.The training such as robotic programming, mechanical package, electrical design (PLC, intelligent vision) can be carried out, is suitble to colleges and universities related
Practice-training teaching, engineering training and the technical ability match of profession.It however, existing robot training platform price is higher, and is single
Function setting, is unable to satisfy the field research to a variety of operations, more demanding to student, greatly limits autonomous of student
It practises, in addition, if to make teaching platform corresponding to each function, then corresponding the cost is higher, increases teaching significantly
Cost.Therefore, in view of the above-mentioned problems, it is necessary to propose further solution.
Summary of the invention
The present invention is intended to provide a kind of robot modularized teaching platform, to overcome the deficiencies in the prior art.
In order to solve the above technical problems, the technical scheme is that
A kind of robot modularized teaching platform comprising: manipulator, fast replacing device and several quick-change tool heads；
The manipulator includes: pedestal, motor, level-one mechanical arm, secondary mechanical arm and connector；
The motor is installed on the pedestal, and level-one mechanical arm one end is connected with the motor shaft of the motor,
Secondary mechanical arm one end is pivotally connected with the level-one mechanical arm, and it is another that the connector is pivotally connected to the secondary mechanical arm
On one end；
Multiple locating slots that the fast replacing device includes: quick-change frame, is set on the quick-change frame；
The quick-change frame include: the first support body for installing the multiple locating slot, the support first support body the
Two support bodies, the locating slot are limited by an annular element, and the annular element is installed on described by the engaging lug of two sides
On one support body, the movement travel of the connector covers multiple locating slots；
Any quick-change tool head has the switch plate for being suitable for matching with the connector and is installed on the switching
Work head on disk, the quick-change tool head are installed in corresponding locating slot.
As the improvement of robot modularized teaching platform of the invention, the level-one mechanical arm and secondary mechanical arm have
There are two opposite adjutages, and secondary mechanical arm one end is pivotally connected to two opposite extensions of the level-one mechanical arm
Between arm, the connector is pivotally connected between two opposite adjutages of the secondary mechanical arm.
As the improvement of robot modularized teaching platform of the invention, the side of the manipulator is additionally provided with positioning dress
It sets, the positioning device includes: support base and the positioning pin that is set on the support base.
As the improvement of robot modularized teaching platform of the invention, the positioning device is set to the manipulator
The left and right sides and front side.
As the improvement of robot modularized teaching platform of the invention, the second support body be it is multiple, multiple second
Support body is vertically arranged, and the first support body is provided with above any second support body, and the locating slot is installed on two
Between adjacent first support body.
As the improvement of robot modularized teaching platform of the invention, the engaging lug of the locating slot two sides passes through bolt
With the first support body bolt.
As the improvement of robot modularized teaching platform of the invention, the second support body is fixed on a bottom bracket
On, between the second support body and bottom bracket, pass through a connection piece phase between the bottom bracket and corresponding mounting surface
Connection.
As the improvement of robot modularized teaching platform of the invention, the connector includes: the hollow of bottom opening
The second support body and bottom bracket or the bottom bracket is bolted in triangular prism, two inclined-planes of the triangular prism
With corresponding mounting surface.
As the improvement of robot modularized teaching platform of the invention, the switch plate includes: the dress with step
The disk body of slot allocation, the fitting groove have the fitting surface matched with the connector, and at least partly region of the fitting surface is logical
Magnetic absorption effect is crossed to connect with the joint disassembly formula.
As the improvement of robot modularized teaching platform of the invention, the manipulator and fast replacing device are set to a machine
On platform, safe grating is additionally provided on the board.
Compared with prior art, the beneficial effects of the present invention are: robot modularized teaching platform of the invention is by setting
A fast replacing device is set, can be realized the flexible conversion of several quick-change tool heads, so that robot modularized teaching platform is integrated with
A variety of instructional functions improve its application.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the stereoscopic schematic diagram of one embodiment of robot modularized teaching platform of the invention；
Fig. 2 three-dimensional enlarged diagram of several quick-change tool heads for fast replacing device in Fig. 1 and thereon.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, 2, robot modularized teaching platform of the invention include: manipulator 1, fast replacing device 2 and
Several quick-change tool heads 3.
The manipulator 1 is realized for combining with different quick-change tool heads 3 by the quick change work with different function
Have head 3 and realizes various teaching purpose.It should be noted that technical concept according to the technique and scheme of the present invention, art technology
Personnel can also be used existing 1 arm of manipulator realization and combine with different quick-change tool heads 3.
In one embodiment, the manipulator 1 includes: pedestal 11, motor 12, level-one mechanical arm 13, secondary mechanical arm 14
And connector 15.The motor 12 is installed on the pedestal 11, the electricity of described 13 one end of level-one mechanical arm and the motor 12
12 axis of machine is connected.To which the motor 12 can drive the level-one mechanical arm 13 to be pivoted movement.The secondary mechanical
14 one end of arm is pivotally connected with the level-one mechanical arm 13, and so under the drive of level-one mechanical arm 13, secondary mechanical arm 14 can be pressed
Movement is synchronized according to certain angle.The connector 15 is pivotally connected on 14 other end of secondary mechanical arm, is so existed
Under the drive of level-one mechanical arm 13 and secondary mechanical arm 14, connector 15 is moveable to teaching position and fast change place.Wherein, it teaches
Degree sets the position for referring to that manipulator 1 carries when quick-change tool head 3 is imparted knowledge to students, and fast change place refers to that manipulator 1 carries out difference
The position of Quick-mounting working head conversion, i.e. position where fast replacing device 2.
In one embodiment, the level-one mechanical arm 13 and secondary mechanical arm 14 all have two opposite adjutages, institute
It states 14 one end of secondary mechanical arm to be pivotally connected between two opposite adjutages of the level-one mechanical arm 13, the connector 15
It is pivotally connected between two opposite adjutages of the secondary mechanical arm 14.So to realize level-one mechanical arm 13, second level
Flexible connection between mechanical arm 14 and connector 15.
In one embodiment, the placement of the teaching aid matched for convenience with quick-change tool head 3, the week of the manipulator 1
Side is additionally provided with positioning device (not shown), and the positioning device includes: that support base and being set on the support base is determined
Position pin.To teaching aid is placed at the position of demand by the positioning of positioning pin when placing teaching aid.In the present embodiment, institute
State the left and right sides and front side that positioning device is set to the manipulator 1.
The fast replacing device 2 is for placing several quick-change tool heads 3, in order to which the manipulator 1 moves to quick change
It when position, can rapidly be matched from different quick-change tool heads 3, complete the conversion of quick-change tool head 3.
In one embodiment, the fast replacing device 2 include: quick-change frame 21, be set to it is multiple fixed on the quick-change frame 21
Position slot 22.Wherein, the quick-change frame 21 is for installing the locating slot 22 comprising: the of the multiple locating slot 22 is installed
The second support body 222 of one support body 221, the support first support body 221.Further, the multiple 22 institute of locating slot
Position be within the movement travel coverage area of the connector 15.The locating slot 22 is limited by an annular element, and
The annular element is installed on the first support body 221 by the engaging lug of two sides.To which different quick-change tool heads 3 can
It is placed by way of grafting in each locating slot 22, the diameter for the locating slot 22 which is limited should be suitable for quick change work
Tool head 3 passes through, and is less than the maximum gauge of quick-change tool head 3, in order to which quick-change tool head 3 is stuck in corresponding locating slot 22
In.
In one embodiment, the second support body 222 is multiple.At this point, multiple second support bodies 222 are vertically arranged,
The top of any second support body 222 is provided with the first support body 221, and the locating slot 22 is installed on two adjacent
Between one support body 221.In order to realize being fixedly connected for the locating slot 22, the engaging lug of 22 two sides of locating slot passes through spiral shell
Bolt and 221 bolt of first support body.
In one embodiment, the second support body 222 is fixed on a bottom bracket 223, the second support body 222
It is connected between bottom bracket 223, between the bottom bracket 223 and corresponding mounting surface by a connection piece 23.Wherein
The table top that corresponding mounting surface can be fixed by manipulator 1, fast replacing device 2.
In one embodiment, the connector 23 includes: the hollow triangular prism of bottom opening, two inclined-planes of the triangular prism
The second support body 222 and bottom bracket 223 or the bottom bracket 223 and corresponding mounting surface is bolted.
To which the connector 23 of the embodiment can be applied in the various embodiments described above, to realize the second support body 222 and bottom branch
Connection between frame 223, between the bottom bracket 223 and corresponding mounting surface.
Any quick-change tool head 3 has certain instructional function, be suitable for matching with the connector 15
Switch plate 31 and the work head 32 being installed on the switch plate 31, wherein work head 32 can for a clamping jaw, a sucker or
One drawing needle of person etc..To by the different achievable different fixed teaching of work head 32, such as when work head 32 is a clamping jaw
When, student can control the teaching object being connected in the tool heads crawl teaching aid of the clamping jaw by manipulator 1, to realize institute
The teaching purpose of 1 grabbing workpiece of skilled operation manipulator.
The quick-change tool head 3 is installed in corresponding locating slot 22.In order to realize 15 quick change difference tool heads of connector
Purpose, in one embodiment, the switch plate 31 of the quick-change tool head 3 includes: the disk body of the fitting groove 311 with step
312, the fitting groove 311 has the fitting surface matched with the connector 15, and at least partly region of the fitting surface passes through
Magnetic absorption effect is detachably connected with the connector 15.Correspondingly, the material in at least partly region of the fitting surface is iron
The end cooperated with fitting groove 311 Deng, the connector 15 is an electromagnet, when connector 15 moves to corresponding quick-change tool head 3
Top when, electromagnet be powered, draw corresponding quick-change tool head 3；When needing replacing other quick-change tool heads 3, connector 15
22 top of locating slot in vacancy, electromagnet power-off are moved to, quick-change tool head 3 is fallen in the vacancy locating slot 22 of lower section, so
Rear joint 15 moves to above another quick-change tool head 3 conversion for realizing quick-change tool head 3 under the control of manipulator 1.
In one embodiment, the manipulator 1 and fast replacing device 2 are set on a board 4, are also set up on the board 4
There is safe grating 5.At this point, the table top of the body 4 forms above-mentioned mounting surface.
In conclusion robot modularized teaching platform of the invention can be realized several by one fast replacing device of setting
The flexible conversion of quick-change tool head improves its application so that robot modularized teaching platform is integrated with a variety of instructional functions
Property.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of robot modularized teaching platform, which is characterized in that the robot modularized teaching platform includes: machinery
Hand, fast replacing device and several quick-change tool heads；
The manipulator includes: pedestal, motor, level-one mechanical arm, secondary mechanical arm and connector；
The motor is installed on the pedestal, and level-one mechanical arm one end is connected with the motor shaft of the motor, described
Secondary mechanical arm one end is pivotally connected with the level-one mechanical arm, and the connector is pivotally connected to the secondary mechanical arm other end
On；
Multiple locating slots that the fast replacing device includes: quick-change frame, is set on the quick-change frame；
The quick-change frame includes: the first support body for installing the multiple locating slot, second of the support first support body
Frame body, the locating slot are limited by an annular element, and the annular element is installed on described first by the engaging lug of two sides
On frame body, the movement travel of the connector covers multiple locating slots；
Any quick-change tool head has the switch plate for being suitable for matching with the connector and is installed on the switch plate
Work head, the quick-change tool head is installed in corresponding locating slot.
2. robot modularized teaching platform according to claim 1, which is characterized in that the level-one mechanical arm and second level
Mechanical arm all has two opposite adjutages, and secondary mechanical arm one end is pivotally connected to two of the level-one mechanical arm
Between opposite adjutage, the connector is pivotally connected between two opposite adjutages of the secondary mechanical arm.
3. robot modularized teaching platform according to claim 1, which is characterized in that the side of the manipulator is also set
It is equipped with positioning device, the positioning device includes: support base and the positioning pin that is set on the support base.
4. robot modularized teaching platform according to claim 3, which is characterized in that the positioning device is set to institute
State the left and right sides and front side of manipulator.
5. robot modularized teaching platform according to claim 1, which is characterized in that the second support body is more
A, multiple second support bodies are vertically arranged, and the first support body, the locating slot are provided with above any second support body
It is installed between two adjacent first support bodies.
6. robot modularized teaching platform according to claim 5, which is characterized in that the connection of the locating slot two sides
Ear passes through bolt and the first support body bolt.
7. according to claim 1 or 5 or 6 described in any item robot modularized teaching platforms, which is characterized in that described second
Support body is fixed on a bottom bracket, between the second support body and bottom bracket, the bottom bracket and corresponding peace
Dress is connected between face by a connection piece.
8. robot modularized teaching platform according to claim 7, which is characterized in that the connector includes: bottom
The hollow triangular prism of opening, the second support body and bottom bracket or institute is bolted in two inclined-planes of the triangular prism
State bottom bracket and corresponding mounting surface.
9. robot modularized teaching platform according to claim 1, which is characterized in that the switch plate includes: to have
The disk body of the fitting groove of step, the fitting groove have the fitting surface matched with the connector, and the fitting surface is at least
Partial region is acted on by magnetic absorption and being connect with the joint disassembly formula.
10. robot modularized teaching platform according to claim 1, which is characterized in that the manipulator and change the outfit fastly
It installs and is placed on a board, be additionally provided with safe grating on the board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745201.7A CN110335529A (en) | 2019-08-13 | 2019-08-13 | Robot modularized teaching platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910745201.7A CN110335529A (en) | 2019-08-13 | 2019-08-13 | Robot modularized teaching platform |
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| Publication Number | Publication Date |
|---|---|
| CN110335529A true CN110335529A (en) | 2019-10-15 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910745201.7A Pending CN110335529A (en) | 2019-08-13 | 2019-08-13 | Robot modularized teaching platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110910747A (en) * | 2019-11-22 | 2020-03-24 | 徐州工业职业技术学院 | Real platform of instructing of industrial robot |
| CN113001570A (en) * | 2021-02-08 | 2021-06-22 | 佛山华数机器人有限公司 | Intelligent robot scientific research and practical training platform |
| CN116363926A (en) * | 2023-03-31 | 2023-06-30 | 福建奥瑞斯机器人工程技术有限公司 | Industrial robot uses integration teaching equipment |
| CN116372964A (en) * | 2023-06-05 | 2023-07-04 | 西湖大学 | Aerial robotic system with switchable end effector sets |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110910747A (en) * | 2019-11-22 | 2020-03-24 | 徐州工业职业技术学院 | Real platform of instructing of industrial robot |
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| CN116372964A (en) * | 2023-06-05 | 2023-07-04 | 西湖大学 | Aerial robotic system with switchable end effector sets |
| CN116372964B (en) * | 2023-06-05 | 2024-02-20 | 西湖大学 | Aerial robotic system with switchable end effector sets |
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